From 90a62dfd794f2c6b60d67129fef87ab2e88c5aa7 Mon Sep 17 00:00:00 2001 From: Alexander B Date: Sun, 4 Jan 2026 19:16:02 -0500 Subject: [PATCH] NovaGlide ultrasonic --- .../subsystems/sensors/ultrasonic_sensor.c | 20 +------------------ 1 file changed, 1 insertion(+), 19 deletions(-) diff --git a/ESP-IDF_NovaGlide/subsystems/sensors/ultrasonic_sensor.c b/ESP-IDF_NovaGlide/subsystems/sensors/ultrasonic_sensor.c index ba7efe539d..e01e1e9cc7 100644 --- a/ESP-IDF_NovaGlide/subsystems/sensors/ultrasonic_sensor.c +++ b/ESP-IDF_NovaGlide/subsystems/sensors/ultrasonic_sensor.c @@ -28,25 +28,7 @@ static const char *TAG = "ULTRASONIC"; static esp_err_t ultrasonic_i2c_read(ultrasonic_system_t *self, float *distance_cm) { uint8_t cmd = 0x01; // start measurement uint8_t data[2]; // Send measurement command esp_err_t err = i2c_master_transmit(self->dev, &cmd, 1, pdMS_TO_TICKS(20)); if (err != ESP_OK) { return err; } // Wait for measurement to complete vTaskDelay(pdMS_TO_TICKS(80)); // Read 2 bytes (distance in mm) err = i2c_master_receive(self->dev, data, 2, pdMS_TO_TICKS(20)); if (err != ESP_OK) { return err; } uint16_t raw_mm = (data[0] << 8) | data[1]; *distance_cm = raw_mm / 10.0f; // mm → cm return ESP_OK; } -static void ultrasonic_update_impl(ultrasonic_system_t *self, TickType_t now) -{ - static TickType_t last_read = 0; - - if ((now - last_read) >= pdMS_TO_TICKS(1000)) { - - float distance; - esp_err_t res = ultrasonic_i2c_read(&distance); - - if (res == ESP_OK) { - self->distance_cm = distance; - ESP_LOGI(TAG, "Distance: %.2f cm", distance); - } else { - ESP_LOGW(TAG, "I2C read failed: %s", esp_err_to_name(res)); - } - - last_read = now; - } -} +static void ultrasonic_update_impl(ultrasonic_system_t *self, TickType_t now) { static TickType_t last_read = 0; if ((now - last_read) >= pdMS_TO_TICKS(1000)) { float distance = 0; esp_err_t res = ultrasonic_i2c_read(self, &distance); if (res == ESP_OK) { self->distance_cm = distance; ESP_LOGI(TAG, "Distance: %.2f cm", distance); } else { ESP_LOGW(TAG, "I2C read failed: %s", esp_err_to_name(res)); } last_read = now; } } /*void ultrasonic_system_init(ultrasonic_system_t *sys) {